Studies in Neuroscience suggest that humans use a combintion of model-based and model-free techniques for sequential decision making [1]}, [2]}, [3]}, [4]}. Most of the current end-to-end driving networks only utilize a model-free architecture, without explicitly trying to infer the state or model of the environment which can be used for planning. A combination of model-based and model-free approaches could greatly improve decision-making in autonmous driving settings.
